CN115291643A - Constant tension control method and system for resistance reduction cable of shipborne mooring unmanned aerial vehicle - Google Patents
Constant tension control method and system for resistance reduction cable of shipborne mooring unmanned aerial vehicle Download PDFInfo
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- CN115291643A CN115291643A CN202211007202.XA CN202211007202A CN115291643A CN 115291643 A CN115291643 A CN 115291643A CN 202211007202 A CN202211007202 A CN 202211007202A CN 115291643 A CN115291643 A CN 115291643A
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D16/00—Control of fluid pressure
- G05D16/20—Control of fluid pressure characterised by the use of electric means
- G05D16/2006—Control of fluid pressure characterised by the use of electric means with direct action of electric energy on controlling means
- G05D16/2013—Control of fluid pressure characterised by the use of electric means with direct action of electric energy on controlling means using throttling means as controlling means
- G05D16/2026—Control of fluid pressure characterised by the use of electric means with direct action of electric energy on controlling means using throttling means as controlling means with a plurality of throttling means
Abstract
The invention provides a constant tension control method for a resistance reducing cable of a shipborne mooring unmanned aerial vehicle, which comprises the following steps: establishing a mooring cable dynamic model under the condition of multi-source interference; establishing a ship-borne tethered unmanned aerial vehicle fuzzy control model aiming at the resistance-reducing mooring rope based on a tethered cable dynamic model; constructing a motion control unit based on a ship-borne mooring unmanned aerial vehicle fuzzy control model; the motion control unit acquires tension and displacement of the anti-drag cable of the mooring unmanned aerial vehicle in real time; and the motion control unit adjusts the tension of the drag reduction cable of the mooring unmanned aerial vehicle according to the acquisition result. The control system applying the control method of the invention has strong real-time operation, increases the degree of freedom of the shipboard control system, improves the resistance of the constant tension control system to internal and external interference, and is easy to popularize.
Description
Technical Field
The invention belongs to the technical field of shipborne unmanned aerial vehicles, and particularly relates to a constant tension control method for a resistance-reducing cable of a shipborne mooring unmanned aerial vehicle.
Background
Along with the rapid development of the aviation and navigation technology, the number of application scenes of the mooring unmanned aerial vehicle on the sea is increased, and the mooring unmanned aerial vehicle system has higher requirements on mooring cable take-up and pay-off equipment. The mainstream constant tension control research is based on a PID control method, utilizes the advantages of the traditional PID control method, eliminates the tension deviation of the mooring cable in the flying process of the mooring unmanned aerial vehicle through a simple control structure, and has high engineering realizability.
In the flying process of the mooring unmanned aerial vehicle, the shipborne mooring unmanned aerial vehicle faces wind disturbance resistance used on the ground, and the influence of ship pitching and rolling on the mooring rope retracting system under a high sea condition is also considered. The traditional PID control parameters cannot adapt to the change of a mooring cable dynamic model in the flight process of an airplane under multiple disturbances, and the tension applied to the mooring cable is difficult to ensure to be constant.
Disclosure of Invention
In order to solve the problems existing in the prior art, the application provides a constant tension control method for a resistance reducing cable of a shipborne mooring unmanned aerial vehicle, which comprises the following steps:
establishing a mooring cable dynamic model under the condition of multi-source interference;
establishing a ship-borne mooring unmanned aerial vehicle fuzzy control model aiming at the resistance-reducing mooring rope based on a mooring rope dynamic model;
constructing a motion control unit based on a ship-borne mooring unmanned aerial vehicle fuzzy control model;
the motion control unit acquires tension and displacement of the resistance-reducing cable of the tethered unmanned aerial vehicle in real time;
and the motion control unit adjusts the tension of the drag reduction cable of the mooring unmanned aerial vehicle according to the acquisition result.
The control system applying the constant tension control method for the resistance reducing cable of the shipborne mooring unmanned aerial vehicle comprises the following steps:
the anti-drag cable assembly comprises a cable and a related adjusting device, and is used for realizing the constant tension control of the cable;
the feedback assembly is connected with the drag reduction cable assembly and is used for acquiring relevant parameters of the drag reduction cable assembly;
and the motion control unit is designed based on the fuzzy control model and is used for controlling the resistance reducing cable assembly to make corresponding actions in real time according to the acquisition result of the feedback assembly.
Further, a drag reducing cable assembly comprising:
the winch is used for winding and unwinding the cable wound on the winch so as to control the tension of the cable;
the servo motor is used for driving the winch to rotate forwards and reversely to achieve the retraction of the cable;
tension adjustment buffer gear for tie the unmanned aerial vehicle.
Furthermore, the servo motor is connected with the motion control unit through a servo driver, the servo driver controls the servo motor to perform corresponding actions through PWM output signals, and the motion control unit controls the motion of the servo driver through an EtherCAT bus.
Further, the feedback assembly includes:
the tension sensor is connected with the cable and used for acquiring the tension on the cable in real time and sending an acquisition result to the motion control unit;
and the stay wire encoder is connected with the tension adjusting and buffering mechanism and used for acquiring displacement generated when the tension adjusting and buffering mechanism moors the unmanned aerial vehicle in real time and sending an acquisition result to the motion control unit.
Furthermore, the acquisition result of the tension sensor is transmitted to the motion control unit through a 4-20 mA current signal.
Furthermore, the acquisition result of the stay wire encoder is transmitted to the motion control unit through an SSI signal.
Further, the method also comprises the following steps:
and the emergency stop button is connected with the motion control unit through a computer interface and is used for sending an emergency stop signal to the motion control unit.
Further, the method also comprises the following steps:
and the ground station is connected with the motion control unit through Ethernet and is used for realizing the manual intervention of the motion control unit.
Compared with the prior art, the constant tension control method and the constant tension control system for the resistance-reducing cable of the shipborne mooring unmanned aerial vehicle have the beneficial effects that:
1. aiming at the resistance reducing cable model, a controller is designed, and the control instantaneity is improved;
2. the composite control framework increases the degree of freedom of the shipboard control system and improves the resistance of the constant tension control system to internal and external interference;
3. the composite control framework can supplement an interference estimation link on the traditional control structure, the original overall structure is not required to be changed, the engineering realization is strong, and the popularization is easy.
Drawings
FIG. 1 is a schematic diagram of the logical connections of the control system of the present invention.
Detailed Description
The present invention will be further described below to enable those skilled in the art to better understand the technical solutions of the present invention.
The application provides a constant tension control method for a resistance-reducing cable of a shipborne mooring unmanned aerial vehicle, which comprises the following specific steps:
(1) Aiming at the interference condition of the anti-drag mooring cable in the flight process of the shipborne mooring unmanned aerial vehicle, establishing a mooring cable dynamic model under the multi-source interference condition;
since the cable tension and the Euler angle at the tow point are known, the above equation becomes relevant l The differential equation of (2) and the problem of solving the cable are converted into an initial value problem, and the problem can be solved by adopting a Runge-Kutta method; obtaining the tension of any position of the cable, the Euler angle and the position relation with the carrier;
(2) Establishing a fuzzy control model of the shipborne mooring unmanned aerial vehicle aiming at the resistance reducing cable based on the dynamic model established in the step (1);
(3) Constructing a motion control unit based on a ship-borne mooring unmanned aerial vehicle fuzzy control model;
(4) The motion control unit acquires tension and displacement of the anti-drag cable of the mooring unmanned aerial vehicle in real time and adjusts the tension of the anti-drag cable of the mooring unmanned aerial vehicle in real time according to the acquired result
Designing a motion control unit according to the model, and designing a complete constant tension control system of the drag reduction mooring cable, as shown in fig. 1:
the motion control unit is designed based on the fuzzy control model and is used for controlling the resistance reducing cable assembly to make corresponding actions in real time according to the acquisition result of the feedback assembly;
a winch for winding and unwinding a cable (wire rope) wound thereon to control the tension of the cable;
the servo motor is connected with the motion control unit through a servo driver, the servo driver controls the servo motor to make corresponding actions through PWM output signals, and the motion control unit controls the motion of the servo driver through an EtherCAT bus;
the tension adjusting and buffering mechanism is used for mooring the unmanned aerial vehicle;
the tension sensor is connected with the cable and used for acquiring the tension on the cable in real time and transmitting the acquired result to the motion control unit through a 4-20 mA current signal;
the stay wire encoder is connected with the tension adjusting buffer mechanism and used for acquiring displacement generated when the tension adjusting buffer mechanism moors the unmanned aerial vehicle in real time and transmitting an acquisition result to the motion control unit through an SSI (small scale integration) signal;
the emergency stop button is connected with the motion control unit through a computer interface and used for sending an emergency stop signal to the motion control unit;
and the ground station is connected with the motion control unit through the Ethernet and is used for realizing the manual intervention of the motion control unit.
The application of the constant tension control method and the constant tension control system for the drag reduction cable in the practical working process is as follows:
the working modes of the control system are divided into a manual control mode and an automatic control mode:
the manual control mode control process is as follows:
1) Manually inputting a maximum tension value;
2) The cable winding/unwinding speed is manually input, and the motion control unit can automatically count the rotating speed of the servo motor;
3) And the motor can be controlled to drive the winch to rotate forwards and backwards by pressing the manual forward rotation button or the manual reverse rotation button.
The following are specifically mentioned: in the manual control process, the motion control unit always reads the current value of the tension sensor, once the current value reaches 1) to set the maximum tension value, the motion control unit displays the alarm that the tension value is too large on a human-computer interface, and an operator should stop the motor motion immediately and check the system at the moment.
The automatic control mode control process is as follows:
1) Pressing an automatic mode operation start button;
2) The motion control unit receives the flight stage state of the unmanned aerial vehicle, the attitude data of the unmanned aerial vehicle, the tension target value of the unmanned aerial vehicle and the ship-carrying motion data which are sent by the ground station (under an automatic control mode, the total tension to be controlled is 4 grades-7N, 10N,40N and 80N, and each grade represents that the settable control value is smaller than the numerical value; different tension control ranges and unmanned aerial vehicle flight phases are acquired in a motion control unit, and different motor PID initial parameters are stored);
3) The motion control unit calculates the change parameters of the PID controller according to the received unmanned aerial vehicle motion data and the ship motion data, and calculates K p 、K i And K d The table number of the fuzzy control table;
4) Obtaining delta K by looking up a table according to the tension change speed and the change range p 、ΔK i And Δ K d Calculating to obtain the actually used K on the basis of the PID initial parameters p 、K i And K d ；
5) When the PID parameters change, the control unit sends the PID parameters to the servo driver through an EtherCAT bus, and the servo parameters are changed according to the PID parameters;
6) In the whole tension control process, the control unit adjusts the rotating speed of the motor by reading the return values of the stay wire encoder and the tension sensor in real time, so that the control of constant tension is realized.
The following are specifically mentioned: in the automatic control process, when the tension control value is two gears of 7N and 10N, the tension adjusting buffer mechanism acts; when the tension control values are 40N and 80N, the tension adjusting buffer mechanism is ineffective; when the unmanned aerial vehicle ascends in place or descends in place, once the set target tension is reached, the servo motor stops moving.
Therefore, the invention is only a preferred embodiment, not limited to the scope of protection, but also covered by the scope of patent and the content of the description.
Claims (9)
1. A constant tension control method for a resistance reducing cable of a shipborne mooring unmanned aerial vehicle is characterized by comprising the following steps:
establishing a mooring cable dynamic model under the condition of multi-source interference;
establishing a ship-borne tethered unmanned aerial vehicle fuzzy control model aiming at the resistance-reducing mooring rope based on a tethered cable dynamic model;
constructing a motion control unit based on a ship-borne mooring unmanned aerial vehicle fuzzy control model;
the motion control unit acquires tension and displacement of the anti-drag cable of the mooring unmanned aerial vehicle in real time;
and the motion control unit adjusts the tension of the drag reduction cable of the mooring unmanned aerial vehicle according to the acquisition result.
2. A control system applying the constant tension control method of the drag reduction cable of the shipborne mooring unmanned aerial vehicle of claim 1, comprising:
the anti-drag cable assembly comprises a cable and a related adjusting device, and is used for realizing the constant tension control of the cable;
the feedback assembly is connected with the drag reduction cable assembly and is used for acquiring relevant parameters of the drag reduction cable assembly;
and the motion control unit is designed based on the fuzzy control model and is used for controlling the resistance reducing cable assembly to make corresponding actions in real time according to the acquisition result of the feedback assembly.
3. The control system of claim 2, wherein the drag reducing cable assembly comprises:
the winch is used for winding and unwinding the cable wound on the winch so as to control the tension of the cable;
the servo motor is used for driving the winch to rotate forwards and reversely to achieve the retraction of the cable;
tension adjustment buffer gear for tie the unmanned aerial vehicle.
4. A control system according to claim 3, characterized in that: the servo motor is connected with the motion control unit through a servo driver, the servo driver controls the servo motor to perform corresponding actions through PWM output signals, and the motion control unit controls the motion of the servo driver through an EtherCAT bus.
5. A control system according to claim 3, wherein the feedback assembly comprises:
the tension sensor is connected with the cable and used for acquiring the tension on the cable in real time and sending an acquisition result to the motion control unit;
and the stay wire encoder is connected with the tension adjusting and buffering mechanism and used for acquiring displacement generated when the tension adjusting and buffering mechanism moors the unmanned aerial vehicle in real time and sending an acquisition result to the motion control unit.
6. A control system according to claim 5, characterized in that: and the acquisition result of the tension sensor is transmitted to the motion control unit through a 4-20 mA current signal.
7. A control system according to claim 5, characterized in that: and the acquisition result of the stay wire encoder is transmitted to the motion control unit through an SSI signal.
8. The control system of claim 5, further comprising:
and the emergency stop button is connected with the motion control unit through a computer interface and is used for sending an emergency stop signal to the motion control unit.
9. A control system according to claim 1, further comprising:
and the ground station is connected with the motion control unit through Ethernet and is used for realizing the manual intervention of the motion control unit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211007202.XA CN115291643B (en) | 2022-08-22 | Constant tension control method and system for drag reduction cable of shipborne mooring unmanned aerial vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211007202.XA CN115291643B (en) | 2022-08-22 | Constant tension control method and system for drag reduction cable of shipborne mooring unmanned aerial vehicle |
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| Publication Number | Publication Date |
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| CN115291643A true CN115291643A (en) | 2022-11-04 |
| CN115291643B CN115291643B (en) | 2024-05-03 |
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